Resistive and hybrid control schemes for haptic feedback interface devices

• US 7,667,687 B2
• Filed: 07/22/2004
• Issued: 02/23/2010
• Est. Priority Date: 12/30/2003
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Grant, Danny A., Goldenberg, Alex S., Gomez, Daniel H.
• Primary Examiner(s): Awad; Amr
• Assistant Examiner(s): Joseph; Dennis P
• Application Number:
  US10/895,982
• Publication Number:
  US 20050151720A1
• Time in Patent Office: 2,042 Days
• Field of Search: 345/156, 345/162, 345/167, 345/169, 715/701, 715/702
• US Class Current: 345/161
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A method is disclosed that includes outputting haptic feedback based on a movement of an object in a first direction from a first position to a second position. The haptic feedback is discontinued when the object is moved in a second direction opposite the first direction subsequent to the movement in the first direction. The haptic feedback is output again when the object moves past the second position in the first direction.

Claims

1. A method, comprising:

outputting a first haptic feedback as long as an object is moved by a user in a first direction from a first position along a path to a second position, the first haptic feedback being discontinued subsequent to the movement in the first direction when the object is moved along the path in a second direction opposite the first direction to a third position; and

outputting the first haptic feedback when the object subsequently moves from the third position along the path in the first direction and past the second position, wherein no first haptic feedback is output when the object is moved from the third position to the second position.

2. The method of claim 1, wherein a magnitude of the first haptic feedback is proportional to a distance between the first position and the second position.

3. The method of claim 1, wherein the first haptic feedback is a virtual spring force.

4. The method of claim 1, wherein the movement of the object is associated with a simulated movement of a graphical object in a graphical display.

5. The method of claim 1, further comprising:

outputting a second haptic feedback based on the movement of the object in the second direction when the object is disposed between the first position and the second position.

6. The method of claim 1, wherein the first haptic feedback output based on the movement of the object from the first position is different from a second haptic feedback output based on the movement of the object past the first position.

7. A device, comprising:

an object displaceable in at least one degree of freedom with respect to a first reference point;

a sensor configured to output a position signal associated with a displacement of the object; and

an actuator configured to output a resistive force based on the position signal, wherein the resistive force is output as long as the object is displaced along a path in a first direction away from the first reference point to a first position,

wherein the resistive force is discontinued when the object is displaced along the path in a second direction opposite the first direction to a second position,

wherein the resistive force is further output subsequent to the object being moved in the second direction and after the object is displaced along the path in the first direction past the first position,

whereby, subsequent to the object being moved in the second direction, no haptic effect is felt by a user manipulating the object while the object is displaced along the path in the first direction between the second position and the first position.

8. The device of claim 7, wherein the degree of freedom is a rotary degree of freedom.

9. The device of claim 7, wherein the actuator is at least one of a resistive actuator and an active actuator.

10. The device of claim 7, wherein the resistive force is a simulated spring force.

11. The device of claim 7, the actuator being a resistive actuator, the device further comprising an active actuator configured to output an assistive force based on the displacement of the object in the second direction.

12. The device of claim 7 wherein the resistive force is a first haptic effect, the actuator configured to output a second haptic effect based on movement of the object in a second direction.

13. A method, comprising:

outputting a haptic feedback as long as an object is moved by a user in a first direction along a path from a first position to a second position, the haptic feedback being discontinued subsequent to the movement in the first direction when the object is moved along the path in a second direction opposite the first direction to a third position, whereby no haptic feedback is felt by the user when the object is moved in the second direction; and

outputting the haptic feedback when the object is subsequently moved in the first direction along the path past the second position wherein no haptic feedback is output when the object is moved from the third position to the second position.

14. A device, comprising:

an object manipulable by a user in at least one degree of freedom with respect to a first reference point;

a sensor configured to output a position signal associated with a displacement of the object; and

an actuator configured to output a resistive force based on the position signal, wherein the resistive force being output as long as the position signal indicates that the object is being displaced along a oath in a first direction away from the first reference point to a first position,

wherein the actuator is further configured to discontinue outputting the resistive force when the position signal indicates that the object is being displaced along the path in a second direction opposite the first direction to a second position,

wherein the actuator is further configured to output the resistive force upon the position signal indicating that the object is displaced along the path in the first direction past the first position,

whereby, subsequent to the object being moved in the second direction, no haptic effect is felt by the user while the object is displaced along the path in the first direction from the second position to the first position.

15. A method, comprising:

outputting a first haptic feedback as long as an object is moved by a user in a first direction from a first position along a path to a second position;

subsequent to the object being moved in the first direction from the first position along the path to the second position, discontinuing the first haptic feedback when the object is moved along the path in a second direction opposite the first direction to a third position; and

subsequent to the object being moved in the second direction to the third position, outputting the first haptic feedback when the object moves in the first direction along the path from the third position past the second position,

whereby no first haptic feedback is output when the object is moved along the path in the first direction from the third position to the second position.

16. A method, comprising:

outputting a first haptic feedback as long as an object is moved by a user in a first direction from a first position along a path to a second position;

subsequent to the object being moved in the first direction from the first position along the path to the second position, discontinuing the first haptic feedback when the object is moved along the path in a second direction opposite the first direction to a third position and when the object is moved along the path in the first direction from the third position to the second position; and

subsequent to the object being moved in the second direction along the path to the third position, outputting the first haptic feedback when the object moves past the second position.